Merge pull request #101 from davidprueser/orm

Rework of ORM

requirements.txt

@@ -1,3 +1,4 @@
+gitpython>=3.1.37
 pybullet~=3.2.5
 rospkg~=1.4.0
 roslibpy~=1.2.1

src/pycram/designator.py

@@ -6,8 +6,8 @@
 from copy import copy
 from inspect import isgenerator, isgeneratorfunction
 
+from sqlalchemy.orm.session import Session
 import rospy
-import sqlalchemy
 
 from .bullet_world import (Object as BulletWorldObject, BulletWorld)
 from .helper import GeneratorList, bcolors
@@ -22,9 +22,10 @@
 import logging
 
 from .orm.action_designator import (Action as ORMAction)
-from .orm.object_designator import (ObjectDesignator as ORMObjectDesignator)
+from .orm.object_designator import (Object as ORMObjectDesignator)
+from .orm.motion_designator import (Motion as ORMMotionDesignator)
 
-from .orm.base import Quaternion, Position, Base, RobotState, MetaData
+from .orm.base import Quaternion, Position, Base, RobotState, ProcessMetaData
 from .task import with_tree
 
 
@@ -377,6 +378,7 @@ class Motion:
         every motion designator.
         """
 
+        @with_tree
         def perform(self):
             """
             Passes this designator to the process module for execution.
@@ -386,29 +388,32 @@ def perform(self):
             raise NotImplementedError()
             # return ProcessModule.perform(self)
 
-    def ground(self) -> Motion:
-        """Fill all missing parameters and pass the designator to the process module. """
-        raise NotImplementedError(f"{type(self)}.ground() is not implemented.")
+        def to_sql(self) -> ORMMotionDesignator:
+            """
+            Create an ORM object that corresponds to this description.
 
-    def to_sql(self) -> Base:
-        """
-        Create an ORM object that corresponds to this description.
+            :return: The created ORM object.
+            """
+            return ORMMotionDesignator()
 
-        :return: The created ORM object.
-        """
-        raise NotImplementedError(f"{type(self)} has no implementation of to_sql. Feel free to implement it.")
+        def insert(self, session: Session, *args, **kwargs) -> ORMMotionDesignator:
+            """
+            Add and commit this and all related objects to the session.
+            Auto-Incrementing primary keys and foreign keys have to be filled by this method.
 
-    def insert(self, session: sqlalchemy.orm.session.Session, *args, **kwargs) -> Base:
-        """
-        Add and commit this and all related objects to the session.
-        Auto-Incrementing primary keys and foreign keys have to be filled by this method.
+            :param session: Session with a database that is used to add and commit the objects
+            :return: The completely instanced ORM motion.
+            """
+            metadata = ProcessMetaData().insert(session)
 
-        :param session: Session with a database that is used to add and commit the objects
-        :param args: Possible extra arguments
-        :param kwargs: Possible extra keyword arguments
-        :return: The completely instanced ORM object
-        """
-        raise NotImplementedError(f"{type(self)} has no implementation of insert. Feel free to implement it.")
+            motion = self.to_sql()
+            motion.process_metadata_id = metadata.id
+
+            return motion
+
+    def ground(self) -> Motion:
+        """Fill all missing parameters and pass the designator to the process module. """
+        raise NotImplementedError(f"{type(self)}.ground() is not implemented.")
 
     def __init__(self, resolver=None):
         """
@@ -499,7 +504,7 @@ def to_sql(self) -> ORMAction:
             """
             raise NotImplementedError(f"{type(self)} has no implementation of to_sql. Feel free to implement it.")
 
-        def insert(self, session: sqlalchemy.orm.session.Session, *args, **kwargs) -> ORMAction:
+        def insert(self, session: Session, *args, **kwargs) -> ORMAction:
             """
             Add and commit this and all related objects to the session.
             Auto-Incrementing primary keys and foreign keys have to be filled by this method.
@@ -510,34 +515,21 @@ def insert(self, session: sqlalchemy.orm.session.Session, *args, **kwargs) -> OR
             :return: The completely instanced ORM object
             """
 
-            # get or create metadata
-            metadata = MetaData().insert(session)
+            pose = self.robot_position.insert(session)
 
-            # create position
-            position = Position(*self.robot_position.position_as_list())
-            position.metadata_id = metadata.id
-
-            # create orientation
-            orientation = Quaternion(*self.robot_position.orientation_as_list())
-            orientation.metadata_id = metadata.id
-
-            session.add_all([position, orientation])
-            session.commit()
+            # get or create metadata
+            metadata = ProcessMetaData().insert(session)
 
             # create robot-state object
-            robot_state = RobotState()
-            robot_state.position = position.id
-            robot_state.orientation = orientation.id
-            robot_state.torso_height = self.robot_torso_height
-            robot_state.type = self.robot_type
-            robot_state.metadata_id = metadata.id
+            robot_state = RobotState(self.robot_torso_height, self.robot_type, pose.id)
+            robot_state.process_metadata_id = metadata.id
             session.add(robot_state)
             session.commit()
 
             # create action
             action = self.to_sql()
-            action.metadata_id = metadata.id
-            action.robot_state = robot_state.id
+            action.process_metadata_id = metadata.id
+            action.robot_state_id = robot_state.id
 
             return action
 
@@ -632,27 +624,23 @@ def to_sql(self) -> ORMObjectDesignator:
             """
             return ORMObjectDesignator(self.type, self.name)
 
-        def insert(self, session: sqlalchemy.orm.session.Session) -> ORMObjectDesignator:
+        def insert(self, session: Session) -> ORMObjectDesignator:
             """
             Add and commit this and all related objects to the session.
             Auto-Incrementing primary keys and foreign keys have to be filled by this method.
 
             :param session: Session with a database that is used to add and commit the objects
             :return: The completely instanced ORM object
             """
-            metadata = MetaData().insert(session)
-            # insert position and orientation of object of the designator
-            orm_position = Position(*self.pose.position_as_list(), metadata.id)
-            orm_orientation = Quaternion(*self.pose.orientation_as_list(), metadata.id)
-            session.add(orm_position)
-            session.add(orm_orientation)
-            session.commit()
+            metadata = ProcessMetaData().insert(session)
 
             # create object orm designator
             obj = self.to_sql()
-            obj.metadata_id = metadata.id
-            obj.position = orm_position.id
-            obj.orientation = orm_orientation.id
+            obj.process_metadata_id = metadata.id
+
+            pose = self.pose.insert(session)
+            obj.pose_id = pose.id
+
             session.add(obj)
             session.commit()
             return obj